/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
#include "stdlib.h"
#include "string.h"
#include "math.h"
#include "motor.h"
#include "axis.h"
#include "sio_service.h"
#include "motion_service.h"
#include "queue.h"
#include "mcu_application.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
char message_LED0_ON[]="The LED0 is ON!";
char message_LED0_OFF[]="The LED0 is OFF!";
char signal;

TiMotor *motor_X;
TiMotor *motor_Y;
TiMotor *motor_Z;
TiAxis *axis_X;
TiAxis *axis_Y;
TiAxis *axis_Z;
uint8_t* request;
uint8_t* response;
TiSioService *sio;
TiMotionService *mcs;
Queue *task_seq;
TiMcuApplication *mcu_app;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  /* USER CODE BEGIN 2 */
  USART1_RX.len = 0;
  USART1_RX.p_data = USART1_RX_BUF;
  USART1_TX.len = 0;
  USART1_TX.p_data = USART1_TX_BUF;
  if (HAL_UART_Receive_DMA(&huart1, (uint8_t*)USART1_RX.p_data, BUF_MAX_LENGTH)!=HAL_OK)
  {
	  printf("%s\r\n","Start USART1_Receive_DMA error!");
  }

  USART2_RX.len = 0;
	USART2_RX.p_data = USART2_RX_BUF;
	USART2_TX.len = 0;
	USART2_TX.p_data = USART2_TX_BUF;
	if (HAL_UART_Receive_DMA(&huart2, (uint8_t*)USART2_RX.p_data, BUF_MAX_LENGTH)!=HAL_OK)
	{
	  printf("%s\r\n","Start USART2_Receive_DMA error!");
	}

	//printf("%s\r\n","hihao");

  HAL_TIM_Base_Start_IT(&htim2);
  HAL_TIM_Base_Start_IT(&htim3);
  HAL_TIM_Base_Start_IT(&htim4);

  if (motor_init()!=MOTOR_OK)
  {
	  printf("Motor initialize error!");
  }

  mcu_app = mcu_app_open();

  request = mcu_app->request;
  response = mcu_app->response;
  task_seq = &mcu_app->task_seq;
  sio = mcu_app->sio;
  mcs = mcu_app->mcs;

  axis_X=mcs->axis[0];
  axis_Y=mcs->axis[1];
  axis_Z=mcs->axis[2];

  motor_X=axis_X->motor;
  motor_Y=axis_Y->motor;
  motor_Z=axis_Z->motor;

  HAL_GPIO_WritePin(LED0_GPIO_Port,LED0_Pin,GPIO_PIN_RESET);
  mcu_app_run(mcu_app);
  HAL_Delay(1000);
  HAL_GPIO_WritePin(LED0_GPIO_Port,LED0_Pin,GPIO_PIN_SET);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_RESET);
	  HAL_Delay(500);
	  HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin,GPIO_PIN_SET);
	  HAL_Delay(500);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
